CN111838113B - Target-alignment sprayer and method for jointly adjusting rotating speed and air outlet area of fan - Google Patents
Target-alignment sprayer and method for jointly adjusting rotating speed and air outlet area of fan Download PDFInfo
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- CN111838113B CN111838113B CN202010665173.0A CN202010665173A CN111838113B CN 111838113 B CN111838113 B CN 111838113B CN 202010665173 A CN202010665173 A CN 202010665173A CN 111838113 B CN111838113 B CN 111838113B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B30/00—Energy efficient heating, ventilation or air conditioning [HVAC]
- Y02B30/70—Efficient control or regulation technologies, e.g. for control of refrigerant flow, motor or heating
Abstract
The invention relates to the technical field of agricultural machinery, and discloses a target-alignment sprayer and a target-alignment spraying method for jointly adjusting the rotating speed and the air outlet area of a fan, wherein the sprayer comprises the following components: the two-dimensional laser radar is used for collecting target information of the fruit trees; the air delivery device is used for delivering air with the speed and the air quantity capable of being controlled in a decoupling way; the spraying end of the spraying device is positioned at the air outlet side of the air conveying device; the input end of the control device is in communication connection with the two-dimensional laser radar, and the output end of the control device is in communication connection with the fan of the air conveying device and the air outlet area adjusting mechanism respectively; when the invention is used for carrying out target air delivery and pesticide spraying on fruit trees, the air with decoupling control on the air speed and the air quantity delivered by the fruit trees can be realized, the air delivery and pesticide spraying requirements on different types of fruit tree crowns are met, and a better pesticide spraying effect is achieved.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a target-alignment sprayer and a target-alignment spraying method for jointly adjusting the rotating speed and the air outlet area of a fan.
Background
The effective control of the plant diseases and insect pests in the orchard can save huge economic loss, and the existing plant diseases and insect pests control mode mainly depends on chemical pesticides, and the times of pesticide spraying in one year of fruit trees are 8-15 times according to investigation and statistics. As the population ages, heavy spraying operations have become a major factor affecting orchard management. To overcome this problem, some robots for orchard work have been developed, but most of them are directed to picking and harvesting of fruit, and few are used for orchard spraying.
The orchard air-assisted spray technology is used as an efficient automatic spray technology, and spray droplets atomized by a spray head are further impacted and atomized into fine and uniform droplets through high-speed air flow, so that the adhesion performance of the droplets is enhanced, and meanwhile, strong air flow can roll branches and leaves and wrap the droplets to penetrate into a target inner chamber, so that the penetrating capacity of the droplets is greatly improved.
In recent years, along with the development of sensor and automatic control technologies, an orchard targeted variable spraying technology is developed. Orchard targeted variable spraying comprises targeted variable regulation and control of drug quantity and wind force, wherein the technology of regulating and controlling the target variable by drug quantity is mature gradually, but less research is conducted on wind force regulation and control. For the existing spraying machine with the automatic target wind power regulation and control function, the wind power is regulated by independently regulating the rotating speed of a fan or independently regulating the wind outlet area, however, a strong coupling relation exists between the wind speed and the wind quantity of the wind power output by the single regulation mode, the strong coupling relation is mainly characterized in that when the wind outlet area is independently regulated, the wind quantity is reduced due to the reduction of the wind outlet area, but the wind speed is increased, otherwise, the wind quantity is increased and the wind speed is reduced; when the rotating speed of the fan is independently regulated, the rotating speed of the fan is increased to synchronously increase the wind speed and the wind quantity of the outlet, and otherwise, the wind speed and the wind quantity of the outlet are synchronously reduced. Thus, the "strong coupling" relationship makes it impossible to achieve independent regulation of wind speed and wind volume.
However, in actual spraying operation on fruit trees, different types of fruit tree canopies have different wind speed and wind volume requirements, for example: for crowns with dense branches and leaves and smaller volumes, high wind speed and low wind volume are generally required, while for crowns with sparse branches and leaves and larger volumes, low wind speed and high wind volume are required. In the process of spraying the pesticide, insufficient deposition in the canopy chamber is caused by too small wind power, and the pesticide liquid is blown out of the canopy layer by too large wind power, so that the pesticide drifts and the ecological environment pollution of farmlands is caused.
Therefore, when the existing target sprayer carries out air-assisted spraying on fruit trees, the wind speed and the wind quantity of the conveyed wind power have a strong coupling relation, so that the independent adjustment of the wind speed and the wind quantity of the conveyed wind cannot be realized, the air-assisted spraying requirements of different types of fruit tree crowns are difficult to meet, and further, a better drug spraying effect is difficult to achieve.
Disclosure of Invention
The embodiment of the invention provides a target spraying machine and a target spraying method for jointly adjusting the rotating speed and the air outlet area of a fan, which are used for solving the problems that the wind speed and the air quantity of the conveying wind power cannot be independently adjusted and the air conveying medicine spraying requirements of different types of fruit tree crowns cannot be met when the existing target spraying machine is used for carrying out air conveying medicine spraying on fruit trees.
In order to solve the technical problems, an embodiment of the present invention provides a target sprayer with a fan rotation speed and an air outlet area jointly adjusted, including: the system comprises a two-dimensional laser radar, a data acquisition unit and a data processing unit, wherein the two-dimensional laser radar is used for acquiring target information of fruit trees, and the target information comprises position information, canopy profile information, canopy volume information and canopy density information of the fruit trees; the air conveying device comprises an air box, a fan and an air outlet area adjusting mechanism; one end of the air box is provided with an air inlet, and the other end of the air box is provided with an air outlet; the air outlet area adjusting mechanism is arranged at the air outlet; the spraying end of the spraying device is positioned at the air outlet side of the air conveying device; the input end of the control device is in communication connection with the two-dimensional laser radar, and the output end of the control device is in communication connection with the fan and the air outlet area adjusting mechanism respectively.
Wherein, still include: a mobile platform; the two-dimensional laser radar, the air conveying device, the spraying device and the control device are arranged on the mobile platform.
The first end of the air conveying device is rotatably arranged on the base, and the second end of the air conveying device is connected with the base through a telescopic driving mechanism.
The air delivery devices comprise a plurality of air delivery devices and are distributed in two rows, and the air outlet directions of the two rows of air delivery devices are arranged in a back direction.
The air outlet area adjusting mechanism comprises an air outlet adjusting unit and a turnover driving mechanism; the air outlet regulating and controlling units comprise a plurality of air outlets and are distributed in parallel; the turnover driving mechanisms are in one-to-one correspondence with the air outlet regulating and controlling units and are connected with the air outlet regulating and controlling units, and the turnover driving mechanisms are in communication connection with the control device.
The wind outlet regulating and controlling unit comprises two wind shields, one sides of the two wind shields corresponding to each other are hinged, and the other sides of the two wind shields are connected with the overturning driving mechanism.
Wherein the spraying device comprises a plurality of spraying heads, and the spraying heads are used for communicating with the medicine box through control valves; the air outlet regulating and controlling units are opposite to the spray heads one by one and are arranged along the air outlet direction of the air conveying device.
The embodiment of the invention also provides a spraying method for the target sprayer, which is characterized in that the rotating speed of the fan and the air outlet area are regulated in a combined way, and the spraying method comprises the following steps: s1, acquiring target information of fruit trees in an orchard and running speed information of a sprayer, wherein the target information comprises position information of the fruit trees, canopy profile information, canopy volume information and canopy density information; s2, calculating the medicine amount sprayed to different positions of the fruit tree canopy based on target information so as to control a spraying device to spray medicine, and simultaneously calculating the air speed and the air quantity conveyed to different positions of the fruit tree canopy by an air conveying device based on the target information so as to jointly regulate and control a fan and an air outlet area regulating mechanism so as to control the air conveying device to regulate and control the air speed as required under the condition that the conveyed air quantity is constant; and S3, sequentially performing target spraying operation on the fruit trees based on the running speed information of the sprayer and the position information of the fruit trees.
Wherein S2 further comprises: grid division is carried out on the canopy of the fruit tree along the horizontal direction row by row according to canopy contour information and canopy volume information, and each row forms a plurality of unit grids; calculating the medicine amount sprayed to each unit grid according to the canopy volume information and canopy density information of each unit grid in a single row so as to control a single spray head to spray medicine to the unit grid corresponding to the single spray head, and simultaneously calculating the wind speed sprayed to each unit grid according to the canopy volume information and canopy density information of each unit grid in the single row so as to control a single air outlet regulating unit to convey corresponding wind speed to the unit grid corresponding to the single air outlet regulating unit; accordingly, S3 further comprises: and carrying out row-by-row target spraying operation on the canopy of the fruit tree according to the running speed information of the sprayer and the position information of the fruit tree.
Wherein, in S1, the step of collecting target information of fruit trees in the orchard further comprises: acquiring point cloud data of the fruit tree through a two-dimensional laser radar; acquiring position information and canopy profile information of the fruit tree according to the point cloud data; the canopy contour gridding maximum algorithm is adopted for the point cloud data, so that canopy volume information of the fruit tree is calculated and obtained; based on the number of the returned point cloud data in the specified area volume detected by the two-dimensional laser radar and the theoretical number of the point cloud data distributed in the specified area volume, the canopy dense information of the fruit tree is obtained.
The above technical solutions in the embodiments of the present invention have at least one of the following technical effects:
according to the target spraying machine and the target spraying method for the combined regulation of the rotating speed of the fan and the air outlet area, target information of fruit trees can be collected through the two-dimensional laser radar, when the air conveying device and the corresponding spraying device face to the crowns of the fruit trees and perform air conveying spraying, the medicine spraying amount of the fruit trees can be calculated based on the target information of the fruit trees, the spraying device is controlled to spray medicine, the air speed and the air quantity of the air conveying device for conveying the fruit trees are calculated based on the target information of the fruit trees, the rotating speed of the fan is controlled in a coordinated mode, the air outlet area regulating mechanism is controlled to regulate the air outlet area of the air outlet, and accordingly the air conveying device is controlled to convey constant air quantity and air with different air speeds, and then target spraying operation can be sequentially performed on all fruit trees of an orchard based on the running speed information of the spraying machine and the position information of the fruit trees.
Therefore, when the spraying machine disclosed by the invention is used for spraying the target air-supply pesticide to the fruit trees, the target spraying pesticide to the fruit trees can be controlled based on the target information of the fruit trees, and the air speed and the air quantity of the target spraying pesticide to the fruit trees can be controlled based on the target information of the fruit trees, so that the air with the air speed and the air quantity being controlled in a decoupling way can be conveyed, the problem of strong coupling between the air speed and the air quantity when the target spraying pesticide to the fruit trees is carried out in the prior art is solved, the air-supply pesticide spraying requirement to crowns of different types of the fruit trees is met, and the better pesticide spraying effect is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a front view structure of a target spraying machine with a fan speed and an air outlet area being adjusted in a combined manner, which is shown in the embodiment of the invention;
FIG. 2 is a schematic diagram of a right-side view structure of a target sprayer with the fan rotation speed and the air outlet area jointly regulated according to the embodiment of the invention;
FIG. 3 is a control structure block diagram of a target spraying machine with the fan rotation speed and the air outlet area jointly regulated according to the embodiment of the invention;
fig. 4 is a schematic structural diagram of a target sprayer for spraying in an orchard, in which the rotation speed of a fan and the air outlet area are adjusted in a combined manner;
FIG. 5 is a schematic view of a pneumatic atomizer according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a human-machine interface of a target sprayer with fan speed and air outlet area jointly regulated according to an embodiment of the invention;
FIG. 7 is a flow chart of a spraying method of a target sprayer based on the combined adjustment of the fan speed and the air outlet area according to the embodiment of the invention;
FIG. 8 is a schematic diagram of point cloud data of a fruit tree canopy obtained based on a two-dimensional laser radar to extract a transverse cross section of the fruit tree canopy according to an embodiment of the present invention;
fig. 9 is a schematic diagram of point cloud data of a fruit tree canopy obtained based on a two-dimensional laser radar to extract a longitudinal section of the fruit tree canopy according to an embodiment of the present invention;
FIG. 10 is a schematic illustration of a polyline drawn by connecting points on a longitudinal and lateral cross-sectional profile, as shown in an embodiment of the present invention;
fig. 11 is a schematic diagram showing calculation of air volume demand of air supplied from a sprayer to an inlet of a fruit tree canopy according to an embodiment of the present invention.
In the figure, 1, a two-dimensional laser radar; 2. an air-conveying device; 21. a wind box; 22. a blower; 23. an air outlet area adjusting mechanism; 231. a wind deflector; 232. a turnover driving mechanism; 3. a spraying device; 31. a spray head; 32. a medicine box; 4. a control device; 5. a mobile platform; 6. a base; 7. a telescopic driving mechanism; 8. a scissor-fork type bracket.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1, fig. 2 and fig. 5, the present embodiment provides a target sprayer with fan rotation speed and air outlet area jointly adjusted, including: the two-dimensional laser radar 1 is used for acquiring target information of the fruit tree, wherein the target information comprises position information, canopy contour information, canopy volume information and canopy density information of the fruit tree; the speed detection device is used for collecting the running speed information of the sprayer; the air conveying device 2, wherein the air conveying device 2 comprises an air box 21, a fan 22 and an air outlet area adjusting mechanism 23; one end of the bellows 21 forms an air inlet, and the other end forms an air outlet; the air outlet area adjusting mechanism 23 is arranged at the air outlet; the spraying device 3, the spraying end of the spraying device 3 is positioned at the air outlet side of the air conveying device 2; the input end of the control device 4 is in communication connection with the two-dimensional laser radar 1 and the speed detection device, and the output end of the control device 4 is in communication connection with the fan 22 and the air outlet area adjusting mechanism 23 respectively.
Specifically, in the sprayer shown in this embodiment, target information of fruit trees is collected by the two-dimensional laser radar 1, when the air-supply device 2 and the corresponding spraying device 3 are opposite to the fruit tree canopy and perform air-supply spraying, the amount of medicine sprayed to the fruit trees can be calculated based on the target information of the fruit trees, so as to control the spraying device 3 to spray medicine, calculate the air speed and the air quantity of the air-supply device 2 to the fruit trees based on the target information of the fruit trees, cooperatively control the rotation speed of the fan 22, control the air-out area of the air outlet of the air-outlet adjusting mechanism 23, so as to control the air-supply device 2 to deliver constant air quantity and air with different air speeds, and further sequentially perform target spraying operation on each fruit tree of the orchard based on the running speed information of the sprayer and the position information of the fruit trees.
Therefore, when the spraying machine shown in the embodiment is used for spraying the target air-supply pesticide to the fruit trees, the target information of the fruit trees can be used for controlling the pesticide amount sprayed to the target of the fruit trees, and the air speed and the air quantity sprayed to the target of the fruit trees can be controlled based on the target information of the fruit trees so as to convey the air flow with the air speed and the air quantity being controlled in a decoupling manner, so that the problem of strong coupling between the air speed and the air quantity when the traditional target spraying is carried out to the fruit trees is solved, the air-supply pesticide spraying requirement on different types of fruit tree crowns is met, and a better pesticide spraying effect is achieved.
Therefore, the sprayer disclosed by the embodiment is high in automation degree, applicable to spraying operation of fruit trees of different types and different heights in an orchard, and capable of greatly reducing labor intensity of operators.
As shown in fig. 1, the two-dimensional laser radar 1, the speed detection device, the air-assisted device 2, the spraying device 3 and the control device 4 shown in this embodiment are all installed on the mobile platform 5, and the mobile platform 5 can adopt a crawler running mechanism known in the art to adapt to complex running road conditions of an orchard, so as to facilitate target spraying of medicines on fruit trees, wherein the two-dimensional laser radar 1 can be installed on the mobile platform 5 through an adjustable bracket, so that based on adjustment of the installation height of the two-dimensional laser radar 1, acquisition of target information of fruit trees with different heights can be realized.
The two-dimensional laser radar 1 shown in this embodiment realizes non-contact ranging of fruit trees (targets) according to a laser pulse Time Flight principle (Time-of-Flight) so as to obtain characteristic point cloud data of the fruit trees, and further obtains target information of the fruit trees according to the characteristic point cloud data. Meanwhile, the two-dimensional laser radar 1 not only can be used for collecting target information of fruit trees, but also can be used for providing a navigation path for autonomous walking of the mobile platform 5, so that unmanned operation process of the whole pesticide spraying is realized, labor cost can be saved, pesticide utilization rate can be improved, and harm of pesticides to personnel health can be reduced.
The speed detection device shown in this embodiment is not shown in fig. 1, and the speed detection device may be a GPS positioning module known in the art, and may be a speed sensor known in the art for directly detecting the speed of the sprayer, or may be an encoder or a proximity switch for detecting the rotation speed of a corresponding running device (running wheel) of the sprayer, which is not shown here.
Meanwhile, as shown in fig. 3, the control device 4 in this embodiment may include an industrial personal computer, a drug amount control system, a wind power control system and a walking control system, where the industrial personal computer is connected to the two-dimensional laser radar 1 through network port communication and is respectively connected to the drug amount control system, the wind power control system and the walking control system through a CAN bus, and the drug amount control system is used for controlling the drug amount sprayed by the spraying device 3 based on the canopy volume information of the fruit tree. The wind power regulation and control system is used for controlling the wind speed and the wind quantity of the wind power supplied by the wind power supply device 2 based on the canopy dense information of the fruit tree.
In addition, based on the navigation path provided by the two-dimensional laser radar 1 for autonomous walking of the mobile platform 5, the walking control system can control the walking pose of the crawler travelling mechanism, so that the whole pesticide spraying operation process is unmanned, the labor cost is greatly saved, the pesticide utilization rate is improved, and the harm of pesticides to personnel health is reduced. The crawler traveling mechanism is arranged on the crawler, the corresponding traveling control system of the crawler traveling mechanism comprises a crawler traveling controller, the deflection angle of the crawler during traveling can be monitored based on the angle sensor, the traveling speed of the crawler is monitored by monitoring the rotating speed of a traveling motor on the crawler through the speed sensor, and accordingly the crawler traveling controller can control the traveling pose of the crawler in real time through the motor driver based on the deflection angle and the traveling speed.
In addition, in the spraying device 3, the spraying end of the spraying device 3 may be provided on the air outlet side of the air-sending device 2 in a separate manner, or the spraying end may be directly attached to the air outlet side of the air-sending device 2. The spraying device 3 can control the spraying dosage by controlling the flow of spraying medicine at the spraying end. The sprayer shown in this embodiment can control the wind speed and the wind quantity of the wind supply based on the fan 22 of the wind supply device 2, and can also combine the wind outlet area adjusting mechanism 23 to adjust the corresponding wind outlet area of the wind box 21, so as to realize the transmission of the wind speed and the wind quantity which can be independently adjusted to the fruit tree. Therefore, when in actual air supply, for fruit tree crowns with large crowns and sparse branches and leaves, the air supply device 2 can be controlled to output air with large air quantity and small air speed, and for fruit tree crowns with small crowns and dense branches and leaves, the air supply device 2 can be controlled to output air with small air quantity and large air speed, so that the air supply device can be suitable for air supply and medicine spraying of different types of fruit tree crowns, and the medicine can be ensured to be uniformly delivered to each area of the fruit tree crowns.
Preferably, as shown in fig. 2 and 5, the first end of the air-sending device 2 is rotatably mounted on the base 6, and the second end of the air-sending device 2 is connected with the base 6 through a telescopic driving mechanism 7, wherein the telescopic driving mechanism 7 can be any one of a hydraulic cylinder, an air cylinder and an electric push rod, and a distance sensor can be mounted on the base 6 to monitor the turning angle of the air-sending device 2 relative to the first end thereof in real time, so that the control device 4 can control the telescopic amount of the telescopic driving mechanism 7 in real time based on the information monitored by the distance sensor.
Specifically, because corresponding medicine spraying is required in different growth periods of the fruit trees, the heights of the fruit trees in different growth periods are different, the forms of the fruit tree crowns are also different, and meanwhile, under different terrain conditions, the heights of the fruit trees to the medicine air conveying devices 2 are also different, in order to meet the medicine spraying requirements of the fruit trees with different heights, in the embodiment, the first end of the air conveying device 2 is hinged with the base 6, the second end of the air conveying device 2 is hinged with the base of the electric push rod, and the telescopic end of the electric push rod is hinged with the corresponding end of the base 6. Therefore, the control device 4 can control the expansion and contraction amount of the expansion and contraction driving mechanism 7 (electric push rod) based on the distance information of the wind conveying device 2 deviated from the base 6 acquired by the distance sensor, so that the wind conveying device 2 can be driven to turn over a corresponding angle relative to the first end of the wind conveying device 2 when the expansion and contraction end of the expansion and contraction driving mechanism 7 performs expansion and contraction actions, and the wind conveying device 2 can be ensured to perform target spraying operation on fruit trees suitable for different heights.
Further, in order to ensure the stability and reliability of the overturning of the air conveying device 2, the embodiment may further design a scissor-fork support 8, wherein the bottom of the scissor-fork support 8 is connected with the base 6, and the top of the scissor-fork support 8 is movably connected with the air conveying device 2, so that the scissor-fork support 8 can be adaptively unfolded when the air conveying device 2 is overturned towards a position far away from the base 6, and the scissor-fork support 8 can be adaptively retracted when the air conveying device 2 is overturned towards a position near to the base 6, and can provide auxiliary support for the air conveying device 2 in the process.
Preferably, the air delivery devices 2 in this embodiment include a plurality of air delivery devices and are arranged in two rows, and correspondingly, the spraying ends of the spraying devices 3 are arranged on the air outlet side of each air delivery device 2, and the spraying directions of the spraying ends are in the same direction as the air outlet directions of the corresponding air delivery devices 2, so that the air outlet sides of the two rows of air delivery devices 2 can be arranged back to back.
As shown in fig. 4, the fruit trees planted in the orchard are generally arranged in an array, so in fig. 4, two rows of fruit trees are correspondingly represented by tree-shaped graphs on two sides, and the sprayer shown in this embodiment is placed between the two rows of fruit trees and performs target spraying operation on the fruit trees. In order to improve the efficiency of spraying targets on fruit trees and reduce the equipment cost, the sprayer shown in the embodiment can specifically set two air conveying devices 2, and when the two air conveying devices 2 and the corresponding spraying devices 3 spray medicines on the targets on the fruit trees, the spraying directions of the targets are respectively towards the left side and the right side of the movable platform 5, so that the target spraying operation on the fruit trees on the left side and the right side can be realized.
It should be noted that, the control device 4 can independently control the air-sending device 2 and the spraying device 3 on the corresponding sides to independently perform the target spraying operation based on different growth conditions of the fruit trees on the two sides of the sprayer detected by the two-dimensional laser radar 1.
Preferably, as shown in fig. 3 and 5, for the air feeding device 2 shown in this embodiment, the outer contour of the air box 21 is in an "eight" shape, the large end of the air box 21 forms an air outlet, and the side wall close to the small end of the air box 21 forms an air inlet. Because compared with the axial flow fan, the centrifugal fan can generate larger wind speed and wind quantity during operation, so that the fan 22 shown in the embodiment is preferably a centrifugal fan, the centrifugal fan comprises a centrifugal wind wheel and a direct current driving motor, the centrifugal wind wheel is rotatably arranged in the wind box 21, the direct current driving motor is arranged on the outer side of the wind box 21, the output end of the direct current driving motor is connected with the centrifugal wind wheel through a belt transmission mechanism, and the installation position of the centrifugal wind wheel in the wind box 21 corresponds to the air inlet of the wind box 21. Therefore, the rotation speed of the centrifugal wind wheel can be adjusted by adjusting the rotation speed of the direct current driving motor.
Preferably, as shown in fig. 5, the air outlet area adjusting mechanism 23 in this embodiment includes an air outlet adjusting unit and a turnover driving mechanism 232; the air outlet regulating and controlling units comprise a plurality of air outlets which are distributed in parallel on the air box 21; the turnover driving mechanisms 232 are in one-to-one correspondence with the air outlet regulating units and are connected with the air outlet regulating units, the turnover driving mechanisms 232 are in communication connection with the control device 4, wherein the air outlet regulating units comprise two wind shields 231, one sides of the two wind shields 231 corresponding to each other are hinged, and the other sides of the two wind shields 231 away from the hinged ends of the two wind shields are connected with the turnover driving mechanisms 232. Therefore, the air outlet of the air box 21 is divided into a plurality of air outlet areas by the plurality of air outlet regulating units, and the control device 4 can control the opening degrees of the two wind shields 231 of the corresponding air outlet areas by controlling the corresponding overturning driving mechanism 232 of each air outlet regulating unit, so that the air speed of the air outlet areas is regulated.
Correspondingly, when the wind speed of the corresponding position of the air outlet of the air box 21 is regulated, a corresponding encoder can be configured for each fan 22, and the wind power regulation controller regulates the rotating speed of the fan 22 in real time based on the canopy volume information of the corresponding position of the fruit tree so as to regulate the wind speed of the corresponding position of the air outlet of the air box 21.
Preferably, as shown in fig. 3 and 5, the spraying device 3 in this embodiment includes a plurality of spraying heads 31, and the air outlet regulating units are opposite to the spraying heads 31 one by one and are arranged along the air outlet direction of the air conveying device 2.
Specifically, when the target spraying of the medicine is performed on the fruit tree, the fruit tree canopy can be subjected to grid division in a row-by-row manner along the horizontal direction according to the canopy contour information and canopy volume information of the fruit tree, each row forms a plurality of unit grids, the spray heads 31 are in one-to-one correspondence with the unit grids corresponding to each row, the medicine amount sprayed on each unit grid can be calculated according to the volume of each unit grid of a single row, and corresponding spraying operation is performed by the corresponding spray heads 31.
Here, when the air velocity and the air volume of the corresponding unit cells are adjusted by the one-to-one correspondence of the spray heads 31 and the air outlet control units, the air velocity of the air supplied to each unit cell is controlled by the fan 22 according to the canopy volume information and canopy density information of each unit cell in a single row, and the air volume of the air supplied to each unit cell is controlled by controlling the opening/closing state of the air outlet control units, and the operation of opening/closing the air outlet control units is as follows:
The two wind shields 231 corresponding to the air outlet regulating unit are turned over in opposite directions by a preset angle to open the air outlet of the corresponding area of the spray head 31, so that the air outlet direction of the air box 21 is not greatly influenced, wherein when the two wind shields 231 are turned over in opposite directions by 90 degrees, the two wind shields 231 are attached to each other to completely open the air outlet of the corresponding area of the spray head 31; and when the two wind shields 231 corresponding to the air outlet regulating and controlling unit are controlled to turn over 90 degrees and spread mutually, the air outlet of the air outlet area corresponding to the spray head 31 can be closed, so that the air quantity of each unit grid is controlled.
As shown in fig. 5, in order to ensure reliable adjustment of the current air outlet area of the air nozzle 31, six air nozzles 31 are disposed at the air outlet of the air box 21, the air outlets of the air box 21 are vertically arranged, the six air nozzles 31 are uniformly arranged at the air outlet from top to bottom, and correspondingly, 12 air baffles corresponding to the air outlets of the air nozzles are disposed in the air box 21, namely, two adjacent air baffles 231 correspond to one air nozzle 31. A fixed shaft corresponding to the wind guard 231 is provided in the bellows 21, and one side corresponding to two adjacent wind guards 231 is rotatably mounted on the same fixed shaft.
For the turnover driving mechanism 232, the turnover driving mechanism 232 comprises a driving turnover mechanism and a driven turnover mechanism, the driving turnover mechanism and the driven turnover mechanism are distributed on opposite sides of the wind shield 231 along the corresponding fixed shaft direction, and the driving turnover mechanism and the driven turnover mechanism are both provided with a connecting rod mechanism, wherein one end of the corresponding connecting rod mechanism of the driving turnover mechanism is hinged with one side of the wind shield 231 away from the fixed shaft, the other end of the connecting rod mechanism is connected with the output end of a steering engine, the steering engine is arranged on the wind box 21 on the corresponding side of the wind shield 231, one end of the corresponding connecting rod mechanism of the driven turnover mechanism is hinged with one side of the wind shield 231 away from the fixed shaft, and the other end of the connecting rod mechanism is rotatably connected with the wind box 21 on the corresponding side of the wind shield 231.
As shown in fig. 3 and 5, since 12 wind shields corresponding to the air outlets of the wind power transmission devices 2 are arranged in the corresponding wind boxes 21, each wind power transmission device 2 is provided with 12 steering gears in total, and an encoder can be arranged for each steering gear. When the air output of the corresponding position of the air outlet of the air box 21 is regulated, for each wind shield 231, the wind power regulation controller can monitor the rotation angle of the steering engine corresponding to the wind shield 231 in real time based on the encoder, and control the steering engine to rotate by a corresponding angle according to the canopy volume information and canopy density information of the corresponding position of the fruit tree, so as to drive the wind shield 231 to turn over by the corresponding angle.
Meanwhile, with the spray head 31 shown in the present embodiment, the spray head 31 is used to communicate with the medicine tank 32 through a control valve, which may be a solenoid valve. The medicine quantity regulating system comprises a medicine spraying controller, the medicine spraying controller calculates medicine quantity required to be sprayed by the spray heads 31 based on canopy volume information and canopy density information of the fruit trees, and based on flow information of medicine liquid passing through the electromagnetic valve and monitored in real time by the flow sensor, so that the on-off state of the electromagnetic valve is controlled through the solid relay, wherein in actual control operation, the medicine spraying controller can specifically control the on-off frequency of the electromagnetic valve through the PWM driving circuit, so that the control of the medicine quantity sprayed by the spray heads 31 is realized, and the accurate control of the medicine quantity of different positions of the fruit trees can be realized based on the spray heads 31.
In the process of controlling the dosage spraying, the medicine spraying controller further performs PID constant pressure control on the medicine liquid output by the medicine box 32 through the diaphragm pump and the pressure sensor, specifically, the medicine box 32 sequentially provides the medicine liquid to the spray head 31 through the diaphragm pump and the pressure regulating valve, a filter is arranged at the inlet of the diaphragm pump, a pressure sensor is arranged at the outlet of the diaphragm pump, and the pressure regulating valve is a three-way valve, so that the pressure regulating valve is also communicated with the medicine box 32 through a return pipe. When the pressure sensor detects that the outlet pressure of the diaphragm pump is too high, the pressure regulating valve returns a part of liquid medicine to the medicine box 32 through the return pipe so as to control the constant pressure of the liquid medicine delivered by the spray head 31, thereby being convenient for realizing the accurate control of the spraying dosage of the spray head 31 under the condition that the pressure of the liquid medicine delivered by the spray head 31 is constant.
In addition, as shown in fig. 6, the present embodiment also designs a corresponding man-machine interface based on the working process of the sprayer. Through the man-machine interface, the communication parameters, the fruit tree row spacing, the sensor mounting height and the distance between the sensor and the spraying device can be set, the corresponding gridding densities of the multiple unit grids shown in the embodiment can be displayed on the man-machine interface in real time, the operation speed, the fan rotating speed, the air outlet area, the air speed, the air quantity and the air box inclination angle of the spraying machine are displayed, and the functions of communication setting, speed calibration, laser radar connection, operation starting, operation stopping and the like of the machine can be completed through the man-machine interface.
As shown in fig. 7, this embodiment further provides a spraying method for a target sprayer based on the combined adjustment of the fan rotation speed and the air outlet area as described above, including: s1, acquiring target information of fruit trees in an orchard and running speed information of a sprayer, wherein the target information comprises position information of the fruit trees, canopy profile information, canopy volume information and canopy density information; s2, calculating the medicine amount sprayed to different positions of the fruit tree canopy based on target information so as to control a spraying device to spray medicine, and simultaneously calculating the air speed and the air quantity conveyed to different positions of the fruit tree canopy by an air conveying device based on the target information so as to jointly regulate and control a fan and an air outlet area regulating mechanism so as to control the air conveying device to regulate and control the air speed as required under the condition that the conveyed air quantity is constant; and S3, sequentially performing target spraying operation on the fruit trees based on the running speed information of the sprayer and the position information of the fruit trees.
Specifically, in the embodiment, in step S1, point cloud data of the fruit tree can be obtained based on the two-dimensional laser radar, and position information and canopy profile information of the fruit tree can be obtained according to the point cloud data; adopting a canopy contour gridding maximum algorithm to the point cloud data to calculate and acquire canopy volume information of the fruit tree; based on the number of the returned point cloud data in the specified area volume detected by the two-dimensional laser radar and the theoretical number of the point cloud data distributed in the specified area volume, the canopy dense information of the fruit tree is obtained.
The canopy contour gridding optimization algorithm shown in this embodiment is as follows:
and acquiring the outline of the fruit tree canopy based on the point cloud data corresponding to the canopy of the fruit tree, wherein the outline of the fruit tree canopy is a set of outer wrapping lines of the fruit tree canopy, contains all information of canopy geometric characteristic parameters and is formed by connecting outermost edge points at different positions of the canopy. In this case, the fruit tree canopy contours are each gridded in the transverse direction and in the longitudinal direction at predetermined point spacings, for example: when the point taking distance is 0.1m, the corresponding size of each grid unit is 0.1m multiplied by 0.1m, wherein the grid unit coordinates are the walking direction of the sprayer, the z direction is the height direction of the fruit tree canopy, the x direction is the thickness direction of the fruit tree canopy, and the x direction is the direction of the sprayer horizontally facing the fruit tree and is perpendicular to the y direction.
As shown in fig. 8, based on the point cloud data of the fruit tree canopy acquired by the two-dimensional laser radar 1, the transverse section of the canopy can be obtained by extracting sections with different canopy heights, and the half tree profile area corresponding to the two-dimensional laser radar 1 in fig. 8 represents the transverse section of the canopy extracted in this embodiment.
As shown in fig. 9, based on the point cloud data of the canopy of the fruit tree acquired by the two-dimensional laser radar 1, the longitudinal section of the canopy is obtained by extracting sections of different horizontal detection positions. In fig. 9, the lateral grid lines represent lateral contour extraction lines, the longitudinal grid lines represent longitudinal contour extraction lines, the intersections of the lateral grid lines and the longitudinal grid lines represent contour points, and the tree-like contour area in fig. 9 represents a longitudinal cross section of the canopy extracted in the present embodiment.
As shown in fig. 10, the longitudinal and transverse cross-sectional profiles of the canopy are obtained by connecting points on the longitudinal and transverse cross-sectional profiles and drawing a line graph. In fig. 10, the coordinate y represents the traveling direction of the sprayer in m; the coordinate x represents the thickness direction of the fruit tree canopy, and the unit is m; the coordinate z is the height direction of the fruit tree canopy, and the value is 1.33m.
Therefore, after removing the point with the thickness of the canopy contour of 0m, calculating the area between adjacent coordinate points according to a trapezoid area method, accumulating, calculating the cross-sectional area, and accumulating according to the obtained canopy cross-sectional area multiplied by the extraction interval of the cross section to obtain the canopy volume, wherein the specific formula is as follows:
Meanwhile, the number of the returned point cloud data in the designated area volume detected by the two-dimensional laser radar can be divided by the theoretical number of the point cloud data which is distributed in the designated area volume, and the canopy dense information of the fruit tree can be obtained by combining corresponding conversion coefficients, and the principle is as follows:
the objective of conventional pesticide spraying is to uniformly spray the agent onto each leaf, i.e. the application rate q is a function of the leaf area s, i.e. q=f(s), but it is difficult to calculate the leaf area rapidly by a non-destructive measurement method due to the large number of leaves and the presence of partial occlusions. The leaf area s can be indirectly calculated by multiplying the leaf area density ρ by the volume V of the designated area, i.e., s=ρv, where the leaf area density ρ is used to describe the sparsity of branches and leaves in the canopy of the fruit tree, which refers to the leaf area (m 2 /m 3) I.e., ρ=s/V.
Setting the number of blades in the designated area volume V to be n l The area of each leaf is S i ，i＝1，2，…，n l Sorting the leaf numbers, setting the difference between the leaf areas of each leaf and the first leaf as DeltaS i ，i＝1，2，…，n l -1, then the leaf area within the specified zone volume V can be expressed as:
assume that
That is, the variation in the area of each blade in the designated area volume V is relatively small, so that the area of each blade in the designated area volume V is reduced to s=s 1 n l Thus, ρ=s/v=s can be further obtained 1 n l /V。
It can be seen that in the first leaf area S 1 In the case of determination of the value of the specified area volume V, the leaf area density ρ is n l Is changed by a change in (a).
Accordingly, based on the fact that the more the number of blades in the specified area volume V is, the larger the blade area is, the more the point cloud data output by the two-dimensional laser radar is, and therefore the embodiment can utilize the point cloud density to represent the blade area density, and a calculation formula is as follows:
wherein n is p For detecting the number of returned point cloud data of a target in a designated area volume, n max For distributing the theoretical number of the point cloud data in the designated area volume, it is obvious that the theoretical number is the maximum value which can be reached by the point cloud data in the designated area volume in theory, namely, n max In the case of value determination, the point cloud density ρ p With n p To change as long as n is determined by data analysis l And n p The functional relation between the two can be used for determining the parameter leaf area density rho and the point cloud density rho through coefficient calculation p A functional relationship between, and thus, cloud density ρ of a volume of a region can be specified by p And acquiring canopy dense information of the fruit trees more conveniently.
Further, according to the embodiment, based on the obtained target information of the fruit tree, the wind speed and the wind quantity of the wind conveying device conveyed to different positions of the fruit tree canopy are calculated, and the wind power conveyed by the wind conveying device can be regulated and controlled by combining the fan and the wind outlet area regulating mechanism according to the following wind power regulation model, wherein when regulation and control are performed, the wind power regulation model is used for regulating and controlling the output wind speed when ensuring the constant wind quantity conveyed by the wind conveying device, and specifically as follows:
WindSpeed＝F(S OUT ，Fanspeed)；
In the above formula, windSpeed is the wind speed of the wind outlet of the wind box, and the unit is m/s; fanspeed is the rotation speed of the fan, and the unit is r/s; s is S OUT The unit of the air outlet area of the air box is m 2 The method comprises the steps of carrying out a first treatment on the surface of the F is a relation function between the wind speed delivered by the wind delivery device and the rotating speed and the air outlet area of the fan respectively under the condition of constant air quantity.
It should be noted here that the wind regulation model shown in this embodiment may be obtained through training by a deep neural network model. The input quantity of the wind power regulation model is the wind speed of the wind power supplied by the wind power supply device, and the output quantity is the rotating speed of the fan and the area of the air outlet of the air box.
In addition, as shown in fig. 11, when the speed and the quantity of the air supplied by the air supply device are regulated, the speed of the air flow supplied by the sprayer and the travelling speed of the sprayer are kept unchanged, so that the air quantity demand Volume at the inlet of the canopy of the fruit tree CanopyIN The volume of the fruit tree canopy towards the sprayer side is not smaller than that of the fruit tree canopy, wherein the shape of the fruit tree canopy towards the sprayer side can be simplified into a trapezoid cube, and the following constraint conditions can be obtained:
in Volume CanopyIN The unit is m for the air volume requirement at the entrance of the fruit tree canopy 3 /s；H 1 The height of the canopy of the fruit tree is m; h 2 The height of the entrance of the canopy of the fruit tree is m; h 3 The unit of the height of the air outlet of the sprayer is m, the unit of v is the advancing speed of the sprayer, and the unit of v is m/s; l is the distance between the sprayer and the vertical center of the fruit tree, and the unit is m; l (L) 1 Between the sprayer and the entrance of the canopy of the fruit treeDistance in m; l (L) 2 The unit is m, which is the distance between the entrance of the fruit tree canopy and the vertical center of the fruit tree canopy; k is the air loss coefficient in the fruit tree chamber.
Of course, the shape type of the fruit tree canopy can also be other forms, and the corresponding mathematical model can be established according to the volume and canopy density information of the fruit tree canopy and by combining the shape type of the fruit tree canopy so as to control the wind speed and wind quantity of the transportation to the fruit tree canopy.
Furthermore, in the embodiment, the canopy of the fruit tree can be divided into grids column by column along the horizontal direction according to canopy contour information and canopy volume information, and each column forms a plurality of unit grids; calculating the medicine amount sprayed to each unit grid according to the canopy volume information and canopy density information of each unit grid in a single row so as to control a single spray head to spray medicine to the unit grid corresponding to the single spray head, and simultaneously calculating the wind speed sprayed to each unit grid according to the canopy volume information and canopy density information of each unit grid in the single row so as to control a single air outlet regulating unit to convey corresponding wind speed to the unit grid corresponding to the single air outlet regulating unit; correspondingly, the crown layer of the fruit tree can be subjected to row-by-row target spraying operation according to the running speed information of the sprayer and the position information of the fruit tree. Therefore, when the target air-assisted spraying is carried out on fruit trees in an orchard, the cooperation of the drug amount and wind power at each position of the fruit trees is regulated and controlled according to the requirement, the better spraying effect is ensured, the sprayed drug amount is greatly saved, and the farmland ecological environment pollution caused by pesticide drift is prevented.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (10)
1. The utility model provides a fan rotational speed and air-out area jointly adjust to target atomizer which characterized in that includes: the system comprises a two-dimensional laser radar, a data acquisition unit and a data processing unit, wherein the two-dimensional laser radar is used for acquiring target information of fruit trees, and the target information comprises position information, canopy profile information, canopy volume information and canopy density information of the fruit trees;
the air conveying device comprises an air box, a fan and an air outlet area adjusting mechanism; one end of the air box is provided with an air inlet, and the other end of the air box is provided with an air outlet; the air outlet area adjusting mechanism is arranged at the air outlet;
the spraying end of the spraying device is positioned at the air outlet side of the air conveying device;
the input end of the control device is in communication connection with the two-dimensional laser radar, and the output end of the control device is in communication connection with the fan and the air outlet area adjusting mechanism respectively;
the control device calculates the dosage of the spraying agent on different positions of the fruit tree canopy based on the target information, and controls the spraying device to spray the dosage; calculating the wind speed and the wind quantity of the wind conveying device conveyed to different positions of the fruit tree canopy based on the target information, carrying out joint regulation and control on the fan and the wind outlet area regulating mechanism, and controlling the wind conveying device to regulate and control the wind speed as required under the condition that the conveyed wind quantity is constant;
The control device adopts a following wind power regulation and control model, and the wind power conveyed by the wind conveying device is regulated and controlled by the fan and the wind outlet area regulating mechanism;
WindSpeedF(S OUT ,Fanspeed)；
in the above formula, windSpeed is the wind speed of the wind outlet of the wind box; fanspeed is the rotational speed of the fan; s is S OUT The air outlet area of the air box is; f is a relation function between the wind speed conveyed by the air conveying device and the rotating speed and the air outlet area of the fan respectively under the condition of constant air quantity.
2. The twin target sprayer of claim 1, wherein the fan speed and air outlet area are adjusted in combination, further comprising: a mobile platform; the two-dimensional laser radar, the air conveying device, the spraying device and the control device are arranged on the mobile platform.
3. The target spraying machine with the fan rotating speed and the air outlet area being adjusted in a combined mode according to claim 1, wherein a first end of the air conveying device is rotatably installed on a base, and a second end of the air conveying device is connected with the base through a telescopic driving mechanism.
4. The target spraying machine with the fan rotating speed and the air outlet area jointly regulated according to claim 1, wherein the air conveying devices comprise a plurality of air conveying devices and are distributed in two rows, and the air outlet directions of the two rows of air conveying devices are arranged in a back direction.
5. The target spraying machine with the fan rotating speed and the air outlet area jointly regulated according to claim 1, wherein the air outlet area regulating mechanism comprises an air outlet regulating unit and a turnover driving mechanism; the air outlet regulating and controlling units comprise a plurality of air outlets and are distributed in parallel; the turnover driving mechanisms are in one-to-one correspondence with the air outlet regulating and controlling units and are connected with the air outlet regulating and controlling units, and the turnover driving mechanisms are in communication connection with the control device.
6. The target spraying machine with the fan rotating speed and the air outlet area jointly regulated according to claim 5, wherein the air outlet regulating unit comprises two wind shields, one sides of the two wind shields corresponding to each other are hinged, and the other sides of the two wind shields are connected with the overturning driving mechanism.
7. The target spraying machine with the fan rotating speed and the air outlet area adjusted in combination according to claim 5, wherein the spraying device comprises a plurality of spraying heads, and the spraying heads are used for communicating with a medicine chest through a control valve;
the air outlet regulating and controlling units are opposite to the spray heads one by one and are arranged along the air outlet direction of the air conveying device.
8. A method of spraying a target spray machine with a fan speed and an air outlet area adjusted in combination as claimed in any one of claims 1 to 7, comprising:
S1, acquiring target information of fruit trees in an orchard and running speed information of a sprayer, wherein the target information comprises position information of the fruit trees, canopy profile information, canopy volume information and canopy density information;
s2, calculating the medicine amount sprayed to different positions of the fruit tree canopy based on target information so as to control a spraying device to spray medicine, and simultaneously calculating the air speed and the air quantity conveyed to different positions of the fruit tree canopy by an air conveying device based on the target information so as to jointly regulate and control a fan and an air outlet area regulating mechanism so as to control the air conveying device to regulate and control the air speed as required under the condition that the conveyed air quantity is constant;
and S3, sequentially performing target spraying operation on the fruit trees based on the running speed information of the sprayer and the position information of the fruit trees.
9. The spraying method according to claim 8, wherein,
s2 further comprises: grid division is carried out on the canopy of the fruit tree along the horizontal direction row by row according to canopy contour information and canopy volume information, and each row forms a plurality of unit grids;
calculating the medicine amount sprayed to each unit grid according to the canopy volume information and canopy density information of each unit grid in a single row so as to control a single spray head to spray medicine to the unit grid corresponding to the single spray head, and simultaneously calculating the wind speed sprayed to each unit grid according to the canopy volume information and canopy density information of each unit grid in the single row so as to control a single air outlet regulating unit to convey corresponding wind speed to the unit grid corresponding to the single air outlet regulating unit;
Accordingly, S3 further comprises: and carrying out row-by-row target spraying operation on the canopy of the fruit tree according to the running speed information of the sprayer and the position information of the fruit tree.
10. The spraying method according to claim 8, wherein,
the step S1 of collecting the target information of the fruit trees in the orchard further comprises the following steps:
acquiring point cloud data of the fruit tree through a two-dimensional laser radar;
acquiring position information and canopy profile information of the fruit tree according to the point cloud data; the canopy contour gridding maximum algorithm is adopted for the point cloud data, so that canopy volume information of the fruit tree is calculated and obtained; based on the number of the returned point cloud data in the specified area volume detected by the two-dimensional laser radar and the theoretical number of the point cloud data distributed in the specified area volume, the canopy dense information of the fruit tree is obtained.
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